Design And Manufactur On The Mechanism Of Elbow-wrist Joint Rehabilitation Robot

The injury of human body’s forearm, both ends of the elbow and the wrist joint are the ones of the most common surgery injury in everyday life and sports, which need to exercise to recover. This paper based on the analysis of the robot that domestic and foreign existing which can be used for the elbow wrist and forearm rehabilitation training, starting from the joint rehabilitation mechanism and rehabilitation needs, the new serial-parallel elbow wrist rehabilitation mechanism with fixed shaft was presented, which was also analyzed by the theory of mechanism. The specific mechanical structure was designed based on the ergonomics and the experimental prototype was also manufactured.Firstly, combining exercise anatomy, clinical medicine, rehabilitation medicine and other related knowledge, the rehabilitation exercise of human body’s forearm,elbow and wrist joints structure, movement theory and the injury of joint was analyzed and the mechanical model of human upper limb was established. In order to meet the needs of the rehabilitation exercise, two kinds of serial-parallel elbow wrist rehabilitation mechanism were presented, the mechanism’s degree of freedom and continuous shaft were analyzed, and the rationality of mechanism input was also discussed. The designed mechanism has three rotational degrees of freedom and one translational degree of freedom, and two fixed shafts, which can meet the needs of the rehabilitation exercise.Secondly, the parallel mechanism of elbow and wrist joint rehabilitation robot was had kinematics analysis. The mechanism’s positive and negative solution was obtained, and the graph of drive vice input was drawn when the mechanism was having the basic rehabilitation exercise; the working space of the mechanism was also analyzed; and the mechanism’s velocity was analyzed with the influence coefficient theory, the velocity graph of driver element was also drawn when the mechanism was having the basic rehabilitation exercise. The kinematics character of the mechanism was discussed based on the condition number of the jacobian matrix, which was also had states analysis.Finally, the prototype of elbow and wrist joint rehabilitation robot was developed based on the ergonomics. The design criterion of rehabilitation robot was introduced, choosing and having project approachment of the rehabilitation robot mechanism, the mechanical system of elbow wrist rehabilitation robot was modular designed based on the(2-URR/RRU)S mechanism, and the safety, comfortable, wide applicability elbow wrist rehabilitation robot was manufactured.